// -----------------------------------------------------------------------
// <copyright file="Program.cs" company="Microsoft Corporation">
// The MIT License (MIT)
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namespace EV4Test
{
    using System.Collections.Generic;
    using System.Threading;
    using Microsoft.Robotics.Hardware.DAC;
    using Microsoft.Robotics.Hardware.EV4;
    using Microsoft.Robotics.Hardware.Runtime.DAC;
    using Microsoft.Robotics.Runtime;

    /// <summary>
    /// Simple program that connects to the heartbeat agent and sends a series of drive commands
    /// </summary>
    internal class Program
    {
        /// <summary>
        /// Main function
        /// </summary>
        /// <param name="args">The parameter is not used.</param>
        internal static void Main(string[] args)
        {
            AgentLocator locator = new AgentLocator();
            locator.LoadFrom("ev4Test.manifest.xml");
            List<IAgentHost> agents = new List<IAgentHost>();

            IAgentHost agent = locator.GetAgent("HeartbeatAgent");
            agent.Activate();
            agents.Add(agent);

            IAgentHost ragent = locator.GetAgent("HeartbeatReceiver");
            ragent.Activate();
            agents.Add(ragent);

            IForwarder<DifferentialDriveSetVelocityMessage> commandFwdr = agent.GetControlPort<DifferentialDriveSetVelocityMessage>();

            SimpleAgentMessage<DriveFeedbackState> fbm = new SimpleAgentMessage<DriveFeedbackState>(new DriveFeedbackState(0, 0, 0, new OdometryNoiseModelParams(), null), AgentMessage.GetCurrentTime());
            for (int i = 0; i < 200; ++i)
            {
                commandFwdr.Post(new DifferentialDriveSetVelocityMessage(new DifferentialDriveVelocityCommand(1, 1), fbm));
                Thread.Sleep(75);
            }
        }
    }
}
